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   <div id="projectname">Ball Balancing Plate
   &#160;<span id="projectnumber">1.0.0</span>
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   <div id="projectbrief">Object recognition and control algorithm software.</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pri-attribs">Private Attributes</a>  </div>
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<div class="title">Kalman Class Reference<div class="ingroups"><a class="el" href="group___control.html">Control</a></div></div>  </div>
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<!-- doxytag: class="Kalman" -->
<p><code>#include &lt;<a class="el" href="kalman_8hpp_source.html">kalman.hpp</a>&gt;</code></p>

<p><a href="class_kalman-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gafced0e28f571d98e8a3c7057e87cd100">Kalman</a> (float <a class="el" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8">Q</a>, float <a class="el" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c">R</a>)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The constructor.  <a href="group___control.html#gafced0e28f571d98e8a3c7057e87cd100"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#ga4e54bc3ac77da48219de5b6297d90386">~Kalman</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The destructor.  <a href="group___control.html#ga4e54bc3ac77da48219de5b6297d90386"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group___control.html#gaa5abc03d34d704f352f145904ddbc3b4">update</a> (float measure)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Update estimated value.  <a href="group___control.html#gaa5abc03d34d704f352f145904ddbc3b4"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a9855d82e7d26f8990198899b438ca431">x_est_last</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Last output estimation.  <a href="#a9855d82e7d26f8990198899b438ca431"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a69c419c798d6c1498d74a8e506833458">P_last</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Last prediction.  <a href="#a69c419c798d6c1498d74a8e506833458"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8">Q</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Noise covariance.  <a href="#afe10e874165b1bfb94ced158ff993fc8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c">R</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Noise covariance.  <a href="#a451aa7b1366890a5963a81be7b6f015c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a7817ee61561f40ff8568252a5fcd828e">K</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_kalman.html">Kalman</a> gain.  <a href="#a7817ee61561f40ff8568252a5fcd828e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#abb285b89fef7785b774455164c08120b">P</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Prediction.  <a href="#abb285b89fef7785b774455164c08120b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a21c6e83c549940968c25c8d2545e30f7">P_temp</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">System inner state temp value.  <a href="#a21c6e83c549940968c25c8d2545e30f7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#aeb4230bb855eb133aa1e4dfe16dfa576">x_temp_est</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Output estimation temp value.  <a href="#aeb4230bb855eb133aa1e4dfe16dfa576"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_kalman.html#a59a6a51c69cef6a20d4ac9837804c8fa">x_est</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Output estimation.  <a href="#a59a6a51c69cef6a20d4ac9837804c8fa"></a><br/></td></tr>
</table>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a7817ee61561f40ff8568252a5fcd828e"></a><!-- doxytag: member="Kalman::K" ref="a7817ee61561f40ff8568252a5fcd828e" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a7817ee61561f40ff8568252a5fcd828e">Kalman::K</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p><a class="el" href="class_kalman.html">Kalman</a> gain. </p>

</div>
</div>
<a class="anchor" id="abb285b89fef7785b774455164c08120b"></a><!-- doxytag: member="Kalman::P" ref="abb285b89fef7785b774455164c08120b" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#abb285b89fef7785b774455164c08120b">Kalman::P</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Prediction. </p>

</div>
</div>
<a class="anchor" id="a69c419c798d6c1498d74a8e506833458"></a><!-- doxytag: member="Kalman::P_last" ref="a69c419c798d6c1498d74a8e506833458" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a69c419c798d6c1498d74a8e506833458">Kalman::P_last</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Last prediction. </p>

</div>
</div>
<a class="anchor" id="a21c6e83c549940968c25c8d2545e30f7"></a><!-- doxytag: member="Kalman::P_temp" ref="a21c6e83c549940968c25c8d2545e30f7" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a21c6e83c549940968c25c8d2545e30f7">Kalman::P_temp</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>System inner state temp value. </p>

</div>
</div>
<a class="anchor" id="afe10e874165b1bfb94ced158ff993fc8"></a><!-- doxytag: member="Kalman::Q" ref="afe10e874165b1bfb94ced158ff993fc8" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#afe10e874165b1bfb94ced158ff993fc8">Kalman::Q</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Noise covariance. </p>

</div>
</div>
<a class="anchor" id="a451aa7b1366890a5963a81be7b6f015c"></a><!-- doxytag: member="Kalman::R" ref="a451aa7b1366890a5963a81be7b6f015c" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a451aa7b1366890a5963a81be7b6f015c">Kalman::R</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Noise covariance. </p>

</div>
</div>
<a class="anchor" id="a59a6a51c69cef6a20d4ac9837804c8fa"></a><!-- doxytag: member="Kalman::x_est" ref="a59a6a51c69cef6a20d4ac9837804c8fa" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a59a6a51c69cef6a20d4ac9837804c8fa">Kalman::x_est</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Output estimation. </p>

</div>
</div>
<a class="anchor" id="a9855d82e7d26f8990198899b438ca431"></a><!-- doxytag: member="Kalman::x_est_last" ref="a9855d82e7d26f8990198899b438ca431" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#a9855d82e7d26f8990198899b438ca431">Kalman::x_est_last</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Last output estimation. </p>

</div>
</div>
<a class="anchor" id="aeb4230bb855eb133aa1e4dfe16dfa576"></a><!-- doxytag: member="Kalman::x_temp_est" ref="aeb4230bb855eb133aa1e4dfe16dfa576" args="" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">float <a class="el" href="class_kalman.html#aeb4230bb855eb133aa1e4dfe16dfa576">Kalman::x_temp_est</a><code> [private]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">

<p>Output estimation temp value. </p>

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